/*
 * position.h
 *
 *  Created on: May 22, 2021
 *      Author: kirk_
 */

#ifndef POSITION_H_
#define POSITION_H_

#include "config.h"

extern osThreadId_t PositionThreadId;

#if Mech_Wheel
#define Position_Denominator 3160.00
#endif

#define Position_Denominator 6320.00

void PositionInit(void* argument);

float PositionConvert(int32_t position);
void PositionDownlink(KD_FloatPID_t* pid);

#endif /* POSITION_H_ */
